Design And Analysis Of Quadruped Tree Climbing Robot

Tree-climbing robots are an important branch of special robots,which play an important role in agriculture and service industries,and play a positive role in wood production and tree inspection.The bark of the tree is extremely rough and the distribution law is complex,resulting in the existing tree climbing robot has problems such as complex design structure and difficult maintenance,and the tree climbing robot was redesigned after observing the climbing process of geckos and referring to the structure of many tree climbing robots.At the same time,inspired by the flexible bristle array structure of the gecko’s palm and the insect’s foot barbs,the robot grasping mechanism was optimized and improved.The paper first establishes the contact model between the spike and the bark surface,observes and studies the flexible bristle structure of the gecko’s palm,explores the law of its flexible source and the palm bristle contact with the surface,optimizes and improves the grasping mechanism of the robot to make it flexible while adjusting the preload to optimize the motor output,save energy and increase battery life,in line with the principle of simple structure and convenient maintenance,the overall structure of the robot is simplified and the rotating beam components are added.During the climbing process,the rotating beam drives the four arms of the robot so that it can adjust the climbing on trees of different diameters.Finally,the reliability of the spikes of the key components of the robot is calculated and the abaqus static simulation is used to verify that the spikes are reasonable and reliable,the positive and inverse kinematic equations are calculated by the overall analysis of the quadruped robot by using the D-H coordinate method,and the foot-end climbing trajectory of the robot is planned by combining the equations and verified the functions of the quadruped robot in the form of dynamic simulation on the tree,and the results show that its design is efficient and feasible.The overall design requirements of the hardware control system were put forward,the servo and control processor were selected and other special requirements for the robot were planned,and finally the rapid prototyping manufacturing technology was used to make the robot with trees of different diameters and climb the experiment,and the results met the design requirements.